WO2022088657A1

WO2022088657A1 - Loading jig for wrapping transformers with copper foil, and device and method for wrapping transformers with copper foil

Info

Publication number: WO2022088657A1
Application number: PCT/CN2021/095249
Authority: WO
Inventors: 万睿; 阮诗扬; 周华平; 叶棣中
Original assignee: 东莞市嘉龙海杰电子科技有限公司
Priority date: 2020-10-28
Filing date: 2021-05-21
Publication date: 2022-05-05
Also published as: CN112349505A

Abstract

Disclosed are a loading jig for wrapping transformers in copper foil and a device and method for wrapping transformers in copper foil. The device comprises two or more rotating shafts arranged at an interval, wherein the rotating shafts are respectively connected to a transformer loading position; one of the rotating shafts is provided with a connecting end for connecting a driving and rotating device, and said rotating shaft is driven by the driving and rotating device and drives the other rotating shafts to synchronously rotate. The device further comprises a workbench and a loading station, copper foil wrapping station, and discharging station that are arranged on the workbench, as well as a loading jig for loading transformers and a jig conveying mechanism; the loading jig is conveyed from the loading station to the copper foil wrapping station and the discharging station by means of the jig conveying mechanism; as such, a plurality of transformers are loaded into the loading jig by means of the mating design of the loading jig and the copper foil wrapping mechanism, the transformers are automatically conveyed along the loading station, the copper foil wrapping station, and the discharging station, and the copper foil wrapping mechanism enables multiple transformers to complete the copper foil wrapping process at one time, which increases the production efficiency; and compared to the traditional wrapping of transformers one by one with copper foil, the rate has a multi-fold increase.

Description

A loading jig for transformer-clad copper foil and equipment and method for transformer-clad copper foil

technical field

The invention relates to the technical field of copper-clad equipment, in particular to a transformer copper-clad loading jig and transformer copper-clad equipment and method, which are mainly suitable for automatic copper-clad plane transformers.

Background technique

The surface of the magnetic core of a transformer (such as a planar transformer) needs to be wrapped with a circle of copper foil to shield external interference. There are many problems with artificial copper foil: the efficiency of manual copper foil is low, the cost is high, the labor intensity is high, and the work quality is stable. Poor quality, there is a certain quality risk.

Later, various copper-clad equipment appeared on the market, but the existing copper-clad equipment can only perform copper-clad operations for one transformer at a time, and the efficiency is limited. Moreover, the existing copper-clad equipment still has insufficient automation. High, unreasonable structural design and other problems, can not well meet the needs of mass production.

Therefore, it is necessary to study a new technical solution to solve the above problems.

technical problem

In view of this, the present invention is aimed at the deficiencies in the prior art, and its main purpose is to provide a loading jig for transformer clad copper foil and an equipment and method for transformer copper cladding, which are achieved through the cooperation of the loading jig and the copper clad mechanism. In the design, multiple transformers are loaded into the loading jig, and the transformers are automatically transported along the loading station, copper foil station and unloading station. Production efficiency: Compared with the traditional one-by-one transformer-clad copper foil, the rate is multiplied.

technical solutions

To achieve the above object, the present invention adopts the following technical scheme:

A loading jig for copper-clad transformers, comprising two or more rotating shafts arranged at intervals, each of the rotating shafts is connected with a transformer loading position; one of the rotating shafts has a connecting end for connecting a driving and rotating device, and the rotating shaft receives the driving and rotating device It drives and drives other shafts to rotate together.

A transformer copper-clad equipment includes a workbench, a loading station, a copper-clad station and an unloading station arranged on the workbench; a loading jig and a jig conveying mechanism for loading transformers are also provided The loading jig is the above-mentioned loading jig for copper-clad transformers; the loading jig is sent from the loading station to the copper-clad station and the unloading station through the jig conveying mechanism;

The copper-cladding station is provided with a copper-clad mechanism, and the copper-clad mechanism has a copper foil feeding mechanism, a copper foil pulling mechanism, a pre-pressing mechanism, a cutting mechanism and a driving device; when the loading jig is transported to the package In the copper foil station, the driving device is connected to the connecting end of the loading jig to drive all the transformers in the loading jig to rotate. After the copper foil coating process is completed, the driving device is separated from the connecting end of the loading jig. The carrier is transported to the blanking station.

As a preferred solution, there are multiple pre-compression mechanisms and cutting mechanisms; wherein: the pre-compression mechanisms are arranged corresponding to the transformer loading positions, and the cutting mechanisms are respectively arranged on both sides of the pre-compression mechanism; the copper foil The feeding mechanism is located on the left side of the copper foil-clad station, and the copper foil-pulling mechanism can move back and forth between the left and right sides of the copper-clad foil station to pull the copper foil provided by the copper foil feeding mechanism Pass through the copper cladding station to cover all transformers that load the fixture.

As a preferred solution, the copper foil pulling mechanism includes a copper foil clamping cylinder and a left and right translation drive device, the copper foil clamping cylinder has a copper foil clamping portion, and the left and right translation driving device drives the copper foil clamping cylinder to move left and right. Move back and forth.

As a preferred solution, the pre-compression mechanism includes a pre-compression rod and a pre-compression cylinder that drives the pre-compression rod to reciprocate up and down.

As a preferred solution, the lower end of the pre-pressing rod is provided with a pre-pressing roller, and the axial direction of the pre-pressing roller extends forward and backward; and, the pre-pressing roller or the pre-pressing rod is provided with a buffer elastic member.

As a preferred solution, the copper-clad mechanism is connected with a front and rear translation drive device to adjust its front and rear positions relative to the copper-clad station.

As a preferred solution, the unloading station is provided with an automatic unloading mechanism, and the automatic unloading mechanism includes a material-moving manipulator, an unloaded fixture recovery mechanism, and a transformer finished product conveying mechanism; the material-moving manipulator can be Translation and up and down movements are used to move the finished transformer to the conveying mechanism of the finished transformer; after the transformer is separated from the loading jig, the loading jig enters the no-load jig recovery mechanism from the unloading station.

A method for processing transformer copper foil, which utilizes the aforementioned equipment for automatic processing of copper foil for transformer, comprising the following steps:

Step 1, put the transformer into the loading jig, and put the loading jig into the jig conveying mechanism at the loading station;

Step 2, the loading jig is transported to the copper foil-clad station, the copper foil pulling mechanism pulls the copper foil out of the copper foil feeding mechanism to cover all the transformers, the preloading mechanism presses the copper foil to make it stick to the surface of the transformer core, After that, the cutting mechanism cuts off the copper foil, and the driving device is connected to the connecting end of the loading jig to drive all the transformers in the loading jig to rotate, and at the same time, under the action of the preloading mechanism, the copper foil is wrapped around the circumference of the transformer. side surface, make multiple transformers complete the copper foil process at one time;

Step 3, the driving device is separated from the connecting end of the loading jig, and the loading jig is transported to the blanking station.

As a preferred solution, an automatic unloading mechanism is provided at the unloading station, and the automatic unloading mechanism includes a material-moving mechanism hand, an unloaded fixture recovery mechanism, and a transformer finished product conveying mechanism; the material-moving manipulator can move forward and backward. And up and down movements to move the finished transformer to the finished transformer conveying mechanism; after the transformer is separated from the loading jig, the loading jig enters the no-load jig recovery mechanism from the unloading station;

When the transformer is detached from the loading jig, the moving manipulator is used to lower and clamp the transformer and move it backward to disengage the transformer from the loading jig, and then send the transformer to the finished transformer conveying mechanism; After the translation, the transformer is separated from the loading fixture, and then the transformer is sent to the transformer finished product conveying mechanism from the unloading manipulator through the material moving manipulator.

beneficial effect

Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, as can be seen from the above technical solutions, it is mainly through the cooperative design of the loading fixture and the copper-clad mechanism that multiple transformers are loaded into the loading fixture. In the tool, the transformers are automatically transported along the feeding station, the copper-cladding station and the unloading station. The copper-clad mechanism enables multiple transformers to complete the copper-clad process at one time, which improves the production efficiency: compared with the traditional transformer packaging one by one For copper foil, the rate increases exponentially;

Secondly, the copper-clad mechanism can be translated back and forth, and the pre-loading mechanism can be set separately. When the size and shape of the transformer product changes slightly, it is only necessary to replace the loading jig or the local structure of the transformer loading position of the loading jig, and the copper-clad mechanism can be flexible. Adjusted to meet the needs of copper cladding operations for different transformer products.

Furthermore, the rational design of each mechanism in the present invention, automatic unloading, automatic transportation of finished transformer products, and automatic return of no-load fixtures, make the equipment more automated and production efficiency higher; it can well meet the needs of modern Production efficiency requirements; the use of automated equipment can reduce production costs and ensure product quality; at the same time, the overall structure design is reasonable, the lifting mechanism is set, and the three-dimensional space is rationally used.

In order to illustrate the structural features and effects of the present invention more clearly, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Description of drawings

1 is an assembled perspective view of an embodiment of the present invention;

Fig. 2 is a partial enlarged view of Fig. 1;

Fig. 3 is another partial enlarged view of Fig. 1;

4 is a first exploded view of an embodiment of the present invention;

5 is a second exploded view of an embodiment of the present invention;

6 is a third exploded view of an embodiment of the present invention;

7 is a fourth exploded view of an embodiment of the present invention;

8 is a fourth exploded view from another angle of the embodiment of the present invention;

FIG. 9 is a partial view of the jig conveying mechanism in the embodiment of the present invention;

10 is a partial view of the copper foil-clad mechanism in the embodiment of the present invention;

FIG. 11 is a partial view of the copper-clad mechanism from another angle in the embodiment of the present invention;

FIG. 12 is a partial view of the loading jig in the embodiment of the present invention;

13 is a partial view of the automatic feeding mechanism in the embodiment of the present invention;

FIG. 14 is a partial view of the material-moving manipulator in the embodiment of the present invention;

Fig. 15 is a partial view of the conveying mechanism of the finished product of the transformer in the embodiment of the present invention;

FIG. 16 is a partial view of the right end lifting mechanism in the embodiment of the present invention.

Description of drawings:

10. Loading fixture 11. Positioning block

12. Connection end 20. Copper foil mechanism

21. Copper foil feeding mechanism 22. Copper foil pulling mechanism

23. Preloading mechanism 24. Cutting mechanism

25. Drive device 31. Material moving manipulator

311. Move the rack 32. No-load fixture recycling mechanism

33. Transformer finished product conveying mechanism 321. Right end lifting mechanism

322. The left end reuses the platform.

BEST MODE FOR CARRYING OUT THE INVENTION

Please refer to FIG. 1 to FIG. 16 , which show the specific structure of the embodiment of the present invention.

A transformer-clad copper foil loading jig, comprising two or more rotating shafts arranged at intervals, each of which is connected with a transformer loading position; one of the rotating shafts has a connecting end 12 for connecting a driving and rotating device 25, and the rotating shaft receives a drive The rotating device 25 drives and drives other rotating shafts to rotate together (see Figure 12 for details). Here, specifically, one end of the rotating shaft is provided with a positioning block 11, the positioning block 11 is sleeved on one end of the rotating shaft through a through hole at the end, and the other end of the positioning block 11 is provided with a power supply for the transformer Insert the positioning slot to form the aforementioned transformer loading position. The insertion end of the positioning slot is set at the other end of the positioning block 11, that is to say, the transformer can be inserted into the other end of the positioning block 11 in the axial direction. The positioning slot can be Copy the design according to the actual shape of the planar transformer.

This embodiment also discloses a transformer copper-clad equipment, including a workbench, a loading station, a copper-clad station and a blanking station arranged on the workbench; and a loading jig for loading the transformer is also provided 10 and a jig conveying mechanism, the loading jig 10 is the above-mentioned loading jig 10 for copper-clad transformers; the loading jig 10 is sent from the feeding station to the copper-clad station through the jig conveying mechanism and a blanking station; the fixture conveying mechanism can be a drive belt and a drive device for driving the drive belt.

Referring to Figure 2, Figure 10, and Figure 11, the copper foil wrapping station is provided with a copper foil wrapping mechanism 20, and the copper foil wrapping mechanism 20 has a copper foil feeding mechanism 21, a copper foil pulling mechanism 22, a pre- The pressing mechanism 23 , the cutting mechanism 24 and the driving device 25 ; when the loading jig 10 is transported to the copper foil cladding station, the driving device 25 is connected to the connecting end 12 of the loading jig 10 to drive the loading jig 10 inside All the transformers are rotated, and after the copper foil coating process is completed, the driving device 25 is separated from the connecting end 12 of the loading fixture 10, and the loading fixture is transported to the unloading station.

Further, there are a plurality of the pre-compression mechanism 23 and the cutting mechanism 24; wherein: the pre-compression mechanism 23 is arranged corresponding to the transformer loading position, and the cutting mechanism 24 is respectively arranged on both sides of the pre-compression mechanism 23; the copper The foil feeding mechanism 21 is located on the left side of the copper foil cladding station, and the copper foil pulling mechanism 22 can reciprocate between the left and right sides of the copper cladding station to provide the The copper foil is pulled through the copper foil station to cover all the transformers of the loading fixture 10 .

Here, the general working process of the copper foil wrapping station is as follows: when the loading fixture 10 reaches the copper foil wrapping station, the copper foil pulling mechanism 22 will move the leftmost end to clamp the copper foil and pull the copper foil. Move to the rightmost end, at this time, the copper foil covers the upper surface of the transformer; the preloading mechanism 23 gently presses the copper foil downward, so that the copper foil is close to the upper surface of the transformer magnetic core, and then the cutting mechanism 24 extends to The copper foil is cut and reset; then, the driving device 25 is connected to the connecting end 12 to drive the transformer in the loading fixture 10 to rotate slowly, and the copper foil is completely wrapped in the transformer under the interaction of the preloading mechanism 23 , so as to complete the copper foil process; enter the next station.

Specifically, the pre-compression mechanism 23 includes a pre-compression rod and a pre-compression cylinder that drives the pre-compression rod to reciprocate up and down. The lower end of the pre-pressing rod is provided with a pre-pressing roller, and the axial direction of the pre-pressing roller extends forward and backward; and the pre-pressing roller or the pre-pressing rod is provided with a buffer elastic member; or, the pre-pressing roller It can also be made of elastic material (see Figure 10).

Further, the copper foil pulling mechanism 22 includes a copper foil clamping cylinder and a left and right translation drive device, the copper foil clamping cylinder has a copper foil clamping part, and the left and right translation driving device drives the copper foil clamping cylinder to reciprocate left and right. move.

The copper-clad mechanism 20 is connected with a front-rear translation drive device to adjust its front-rear position relative to the copper-clad station.

Here, it should be added that the copper-clad mechanism 20 further includes a base frame and a first mounting plate, the front-rear translation drive device drives the base frame to translate back and forth, and the first mounting plate is installed on the base frame And preferably, it can be adjusted up and down relative to the base frame, the installation height of the first mounting plate can be changed through the adjustment hole, and the position and height of the first installation plate relative to the base frame can be controlled by the up and down lift drive device; the left and right translation drive device It is installed on the rear side of the first mounting plate, where the motor drives the synchronous belt, and the copper foil cylinder is clamped on the synchronous belt through a clamping seat to realize left and right translation. The pre-pressing rods are arranged on the front side of the first mounting plate. Each pre-pressing rod is separately equipped with a pre-pressing cylinder. The pre-pressing rod and the pre-pressing cylinder are arranged side by side in the left and right directions. The top end of the duct is connected by a transverse link. In this way, the gap that the pre-compression rod needs to be arranged at intervals is cleverly used to arrange the pre-compression cylinder and reduce the height space occupied by the pre-compression mechanism 23 . The cutting mechanism 24 is designed as a scissor type, which is mounted on the second mounting plate. Usually, the second mounting plate is connected to the first mounting plate. cylinder. The copper foil feeding mechanism 21 includes a reel and a roller, and both the reel and the roller can be arranged on the copper foil mechanism 20 .

Preferably, the blanking station is further provided with an automatic blanking mechanism, and the automatic blanking mechanism includes a material moving manipulator 31, an empty fixture recovery mechanism 32, and a transformer finished product conveying mechanism 33; the material moving manipulator 31 It can move back and forth and up and down to move the finished product of the transformer to the finished product conveying mechanism 33 of the transformer; (usually, the moving manipulator 31 is connected to a moving frame 311 by setting, and the moving frame 311 is provided with a driving device, so as to realize the manipulator. ); after the transformer is separated from the loading jig 10, the loading jig 10 enters the unloaded jig recovery mechanism 32 from the unloading station.

Further, the no-load jig recovery mechanism 32 is correspondingly arranged at the right end of the jig conveying mechanism, and the transformer finished product conveying mechanism 33 is correspondingly arranged at the side of the jig conveying mechanism; usually, the transformer finished product conveying mechanism 33 Including the conveyor belt and the drive device that drives the conveyor belt to run.

During operation, the material-moving manipulator 31 descends to clamp the transformer and translates backward to disengage the transformer from the loading jig 10, and then sends the transformer to the finished transformer conveying mechanism 33; The transformer is separated from the loading jig 10 , and then the transformer is sent to the transformer finished product conveying mechanism 33 through the material-moving manipulator 31 from the dismantling manipulator.

Further, the no-load jig recovery mechanism 32 is a right-end recovery platform, the right-end recovery platform is connected with a right-end lifting mechanism 321, and a jig return transportation mechanism is provided below the jig conveying mechanism, and the jig returns. The left end of the conveying mechanism is provided with a left end recycling platform 322, and the left end recycling platform 322 is connected with a left end lifting mechanism; the right end lifting mechanism 321 controls the lifting and lowering of the right end recycling platform to connect to the right end of the fixture conveying mechanism and the fixture return conveying mechanism Between the right ends, the left end lifting mechanism controls the left end return platform 322 to ascend and descend to connect between the left end of the jig return conveying mechanism and the left end of the jig conveying mechanism.

Embodiments of the present invention

This embodiment also discloses a method for processing transformer copper foil, which utilizes the aforementioned transformer copper foil equipment for automatic processing, including the following steps:

Step 1, load the transformer into the loading jig 10, and put the loading jig 10 into the jig conveying mechanism at the loading station;

Step 2, the loading jig 10 is transported to the copper foil wrapping station, the copper foil pulling mechanism 22 pulls the copper foil from the copper foil feeding mechanism 21 to cover all the transformers, and the preloading mechanism 23 presses the copper foil to make it stick to the transformer. The surface of the magnetic core, after that, the cutting mechanism 24 cuts the copper foil, the driving device 25 is connected to the connecting end 12 of the loading jig 10 to drive all the transformers in the loading jig 10 to rotate, and at the same time, under the action of the preloading mechanism 23 , so that the copper foil is covered on the peripheral surface of the transformer, and multiple transformers can complete the copper foil coating process at one time;

Step 3, the driving device 25 is separated from the connecting end 12 of the loading jig 10, and the loading jig is transported to the unloading station.

Similarly, an automatic unloading mechanism is provided at the unloading station, and the automatic unloading mechanism includes a material-moving manipulator 31, an unloaded fixture recovery mechanism 32, and a transformer finished product conveying mechanism 33; the material-moving manipulator 31 can translate forward and backward and The up-and-down movement moves the finished transformer to the finished transformer conveying mechanism 33; after the transformer is separated from the loading jig 10, the loading jig 10 enters the unloaded jig recovery mechanism 32 from the unloading station;

When the transformer is detached from the loading fixture 10, the material-moving manipulator 31 is lowered to clamp the transformer and move backwards to release the transformer from the loading jig 10, and then send the transformer to the transformer finished product conveying mechanism 33; Hold the transformer and move it backwards to disengage the transformer from the loading jig 10 , and then send the transformer to the transformer finished product conveying mechanism 33 from the material-disassembling manipulator through the material-moving manipulator 31 .

Industrial Applicability

The key point of the design of the present invention is that it is mainly through the cooperative design of the loading jig and the copper-clad mechanism to load multiple transformers into the loading jig. The position is automatically conveyed, and the copper-clad mechanism enables multiple transformers to complete the copper-clad process at one time, which improves the production efficiency: Compared with the traditional one-by-one transformer-clad copper foil, the speed is multiplied;

The above are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are still It belongs to the scope of the technical solution of the present invention.

Claims

A loading jig for copper-clad transformers, which is characterized in that: it includes two or more rotating shafts arranged at intervals, and the rotating shafts are respectively connected with transformer loading positions; one of the rotating shafts has a connecting end for connecting a driving and rotating device, and the rotating shaft Accept the drive of the driving device and drive other shafts to rotate together.
A transformer copper-clad equipment is characterized in that: it includes a workbench, a loading station, a copper-clad station and a blanking station arranged on the workbench; and a loading jig for loading transformers and an unloading station are also provided. A jig conveying mechanism, the loading jig is a loading jig for copper-clad transformers according to claim 1; the loading jig is sent from the feeding station to the copper-clad station and the blanking station;

The copper-cladding station is provided with a copper-clad mechanism, and the copper-clad mechanism has a copper foil feeding mechanism, a copper foil pulling mechanism, a pre-pressing mechanism, a cutting mechanism and a driving device; when the loading jig is transported to the package In the copper foil station, the driving device is connected to the connecting end of the loading jig to drive all the transformers in the loading jig to rotate. After the copper foil coating process is completed, the driving device is separated from the connecting end of the loading jig. The carrier is transported to the blanking station.
A transformer copper-clad equipment according to claim 2, characterized in that: a plurality of the pre-compression mechanism and the cutting mechanism are provided; wherein: the pre-compression mechanism is set corresponding to the transformer loading position, and the cutting mechanism is respectively It is arranged on both sides of the pre-pressing mechanism; the copper foil feeding mechanism is located on the left side of the copper foil coating station, and the copper foil pulling mechanism can reciprocate between the left and right sides of the copper foil coating station, Cover all transformers loaded with fixtures by pulling the copper foil provided by the copper foil feeding mechanism through the copper foil station.
A transformer copper-clad equipment according to claim 2, characterized in that: the copper-foil pulling mechanism comprises a copper-foil-clamping cylinder and a left-right translational drive device, and the copper-foil-clamping cylinder has a copper foil clamping part, The left-right translation drive device drives the copper foil cylinder to reciprocate left and right.
The transformer copper-clad equipment according to claim 2, wherein the pre-compression mechanism comprises a pre-compression rod and a pre-compression cylinder that drives the pre-compression rod to reciprocate up and down.
A transformer copper-clad equipment according to claim 5, characterized in that: the lower end of the pre-compression rod is provided with a pre-compression roller, and the axial direction of the pre-compression roller extends forward and backward; The roller or the pre-pressing rod is provided with a buffer elastic member.
The transformer copper-clad equipment according to claim 2, wherein the copper-clad mechanism is connected with a front and rear translation drive device to adjust its front and rear position relative to the copper-clad station.
A transformer clad copper foil equipment according to claim 2, characterized in that: the unloading station is provided with an automatic unloading mechanism, and the automatic unloading mechanism includes a material-moving manipulator and an unloaded jig recovery mechanism , Transformer finished product conveying mechanism; the moving manipulator can move forward and backward and up and down to move the transformer finished product to the transformer finished product conveying mechanism; after the transformer is separated from the loading jig, the loading jig enters the unloaded jig from the unloading station recycling agency.
A method for processing transformer copper foil, characterized in that: it utilizes a transformer copper foil device described in any one of claims 2 to 8 to perform automated processing, comprising the following steps:

Step 1, put the transformer into the loading jig, and put the loading jig into the jig conveying mechanism at the loading station;

Step 2, the loading jig is transported to the copper foil-clad station, the copper foil pulling mechanism pulls the copper foil out from the copper foil feeding mechanism to cover all the transformers, and the preloading mechanism presses the copper foil to make it stick to the surface of the transformer core, After that, the cutting mechanism cuts off the copper foil, and the driving device is connected to the connecting end of the loading jig to drive all the transformers in the loading jig to rotate, and at the same time, under the action of the preloading mechanism, the copper foil is wrapped around the circumference of the transformer. Side surface, make multiple transformers complete the copper foil process at one time;

Step 3, the driving device is separated from the connecting end of the loading jig, and the loading jig is transported to the blanking station.
A method for processing transformer-clad copper foil according to claim 9, characterized in that: an automatic unloading mechanism is provided at the unloading station, and the automatic unloading mechanism comprises a material-moving mechanism hand and an empty-loaded jig recovery mechanism , Transformer finished product conveying mechanism; the moving manipulator can move forward and backward and up and down to move the transformer finished product to the transformer finished product conveying mechanism; after the transformer is separated from the loading jig, the loading jig enters the unloaded jig from the unloading station recycling agencies;

When the transformer is detached from the loading jig, the moving manipulator is used to lower and clamp the transformer and move it backward to disengage the transformer from the loading jig, and then send the transformer to the finished transformer conveying mechanism; After the translation, the transformer is separated from the loading fixture, and then the transformer is sent to the transformer finished product conveying mechanism from the unloading manipulator through the material moving manipulator.